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/* Author: Mark Moll */

#ifndef PY_BINDINGS_OMPL_PY_CONTROL_
#define PY_BINDINGS_OMPL_PY_CONTROL_

#include "ompl/control/spaces/DiscreteControlSpace.h"
#include "ompl/control/spaces/RealVectorControlSpace.h"
#include "ompl/control/ODESolver.h"
#include "py_std_function.hpp"

#define DeclareControlType(T) \
    inline int __dummy##T() \
    { \
        return sizeof(ompl::control::T##ControlSpace::ControlType); \
    }

namespace ompl
{
    namespace control
    {
        DeclareControlType();
        DeclareControlType(Compound);
        DeclareControlType(Discrete);
        DeclareControlType(RealVector);
        inline int dummyODESolverSize()
        {
            return sizeof(ODEBasicSolver<>) + sizeof(ODEErrorSolver<>) + sizeof(ODEAdaptiveSolver<>);
        }
    }
}

#endif
